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<a href="primitive__collision__checker_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * primitive_collision_checker.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Aug 2, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef PRIMITIVE_COLLISION_CHECKER_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define PRIMITIVE_COLLISION_CHECKER_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__aabb_8h.html">collision/narrowphase/rectangle_aabb.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__collision__checker_8h.html">i_collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="namespacecollision.html#a26b4aad32d10b8574b3dde076db249b6">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_primitive_collision_checker.html">PrimitiveCollisionChecker</a>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;PrimitiveCollisionChecker&gt; <a class="code" href="namespacecollision.html#a26b4aad32d10b8574b3dde076db249b6">PrimitiveCollisionCheckerPtr</a>;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const PrimitiveCollisionChecker&gt;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="namespacecollision.html#a21708a17730ed95a554548e6f5c88e07">   23</a></span>&#160;    <a class="code" href="namespacecollision.html#a21708a17730ed95a554548e6f5c88e07">PrimitiveCollisionCheckerConstPtr</a>;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classcollision_1_1_primitive_collision_checker.html">   31</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_primitive_collision_checker.html">PrimitiveCollisionChecker</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#a44ac277e997ebf0936cf6bb245d21f38">addCollisionObject</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#ad4a95851dfb5a74630b9afeb25f568f7">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co) <span class="keyword">const</span>;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#ad4a95851dfb5a74630b9afeb25f568f7">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;               <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &amp;obstacle) <span class="keyword">const</span>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#ad4a95851dfb5a74630b9afeb25f568f7">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;               std::vector&lt;CollisionObjectConstPtr&gt; &amp;obstacles) <span class="keyword">const</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="namespacecollision.html#a26b4aad32d10b8574b3dde076db249b6">PrimitiveCollisionCheckerPtr</a> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#af9f82355d7dcdb4d02d18fa76416fe62">windowQuery</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb) <span class="keyword">const</span>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="namespacecollision.html#a26b4aad32d10b8574b3dde076db249b6">PrimitiveCollisionCheckerPtr</a> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#a0fa4d8323a4a12d923fada231e11d1c6">timeSlice</a>(<span class="keywordtype">int</span> time_idx) <span class="keyword">const</span>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#a92bfd17bb5b1d36d58eb5629b3d2ae57">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_primitive_collision_checker.html#abe5a7aeed93d8be247c0798c857d743f">numberOfObstacles</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; <a class="code" href="classcollision_1_1_primitive_collision_checker.html#a530ab44b56dcc420dc7dc7d3830c137a">getObstacles</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classcollision_1_1_primitive_collision_checker.html#a47d29cf2166b7da1b72d2d96e691b8e3">   49</a></span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; <a class="code" href="classcollision_1_1_primitive_collision_checker.html#a47d29cf2166b7da1b72d2d96e691b8e3">collision_objects_</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;};</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacecollision_html_a21708a17730ed95a554548e6f5c88e07"><div class="ttname"><a href="namespacecollision.html#a21708a17730ed95a554548e6f5c88e07">collision::PrimitiveCollisionCheckerConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const PrimitiveCollisionChecker &gt; PrimitiveCollisionCheckerConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8h_source.html#l00023">primitive_collision_checker.h:23</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_a47d29cf2166b7da1b72d2d96e691b8e3"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#a47d29cf2166b7da1b72d2d96e691b8e3">collision::PrimitiveCollisionChecker::collision_objects_</a></div><div class="ttdeci">std::vector&lt; CollisionObjectConstPtr &gt; collision_objects_</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8h_source.html#l00049">primitive_collision_checker.h:49</a></div></div>
<div class="ttc" id="namespacecollision_html_a26b4aad32d10b8574b3dde076db249b6"><div class="ttname"><a href="namespacecollision.html#a26b4aad32d10b8574b3dde076db249b6">collision::PrimitiveCollisionCheckerPtr</a></div><div class="ttdeci">std::shared_ptr&lt; PrimitiveCollisionChecker &gt; PrimitiveCollisionCheckerPtr</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8h_source.html#l00020">primitive_collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_a44ac277e997ebf0936cf6bb245d21f38"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#a44ac277e997ebf0936cf6bb245d21f38">collision::PrimitiveCollisionChecker::addCollisionObject</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW void addCollisionObject(CollisionObjectConstPtr co)</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8cc_source.html#l00012">primitive_collision_checker.cc:12</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_a530ab44b56dcc420dc7dc7d3830c137a"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#a530ab44b56dcc420dc7dc7d3830c137a">collision::PrimitiveCollisionChecker::getObstacles</a></div><div class="ttdeci">std::vector&lt; CollisionObjectConstPtr &gt; getObstacles() const</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8cc_source.html#l00086">primitive_collision_checker.cc:86</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_af9f82355d7dcdb4d02d18fa76416fe62"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#af9f82355d7dcdb4d02d18fa76416fe62">collision::PrimitiveCollisionChecker::windowQuery</a></div><div class="ttdeci">PrimitiveCollisionCheckerPtr windowQuery(const RectangleAABB &amp;aabb) const</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8cc_source.html#l00057">primitive_collision_checker.cc:57</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_abe5a7aeed93d8be247c0798c857d743f"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#abe5a7aeed93d8be247c0798c857d743f">collision::PrimitiveCollisionChecker::numberOfObstacles</a></div><div class="ttdeci">int numberOfObstacles() const</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8cc_source.html#l00081">primitive_collision_checker.cc:81</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_ad4a95851dfb5a74630b9afeb25f568f7"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#ad4a95851dfb5a74630b9afeb25f568f7">collision::PrimitiveCollisionChecker::collide</a></div><div class="ttdeci">bool collide(CollisionObjectConstPtr co) const</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8cc_source.html#l00016">primitive_collision_checker.cc:16</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_a0fa4d8323a4a12d923fada231e11d1c6"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#a0fa4d8323a4a12d923fada231e11d1c6">collision::PrimitiveCollisionChecker::timeSlice</a></div><div class="ttdeci">PrimitiveCollisionCheckerPtr timeSlice(int time_idx) const</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8cc_source.html#l00070">primitive_collision_checker.cc:70</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html">collision::PrimitiveCollisionChecker</a></div><div class="ttdoc">PrimitiveCollisionChecker can group any kinds of CollisionObjects.</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8h_source.html#l00031">primitive_collision_checker.h:31</a></div></div>
<div class="ttc" id="i__collision__checker_8h_html"><div class="ttname"><a href="i__collision__checker_8h.html">i_collision_checker.h</a></div></div>
<div class="ttc" id="classcollision_1_1_primitive_collision_checker_html_a92bfd17bb5b1d36d58eb5629b3d2ae57"><div class="ttname"><a href="classcollision_1_1_primitive_collision_checker.html#a92bfd17bb5b1d36d58eb5629b3d2ae57">collision::PrimitiveCollisionChecker::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8cc_source.html#l00090">primitive_collision_checker.cc:90</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_checker_html"><div class="ttname"><a href="classcollision_1_1_i_collision_checker.html">collision::ICollisionChecker</a></div><div class="ttdoc">External interface to a CollisionChecker (with or without an acceleration structure)</div><div class="ttdef"><b>Definition:</b> <a href="i__collision__checker_8h_source.html#l00022">i_collision_checker.h:22</a></div></div>
<div class="ttc" id="rectangle__aabb_8h_html"><div class="ttname"><a href="rectangle__aabb_8h.html">rectangle_aabb.h</a></div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
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